In this post I'll cover how to setup OMPL with a custom optimization objective that reaches out to the ROS stack for its cost function.
This is a straight forward way to set up a ROS development environment on Windows including GUI applications.
This is a (relatively) quick walk-through on setting up a functional ROS on Windows environment using WSL. It took me a bit of trial and error to get here so I thought I'd put it all in one place.
Through a lot of hacking, installing, reinstalling, and much head-banging, I finally figured out an installation process that leads to (what seems to be) a fully functional development environment for OMPL and MoveIt!.